조규진 교수

In this paper, biomimetic underwater robots built using smart actuators, e.g., a shape memory alloy (SMA), an ionic polymer metal composite (IPMC), lead zirconate titanate (PZT), or a hybrid SMA and IPMC actuator, are reviewed. The effects of underwater environment were also considered because smart actuators are often affected by their external environment. The characteristics of smart actuators are described based on their actuating conditions and motion types. Underwater robots are classified

This paper reviews various processes for manufacturing new type of robots termed “soft biomimetic robots.” Most robots are made of rigid metallic materials. But in recent years, various biomimetic robots based on soft materials and compliant parts have been developed. New manufacturing processes are required to fabricate these types of robots, and the processes include Shape Deposition Manufacturing (SDM) and Smart Composite Microstructures (SCM). Since the design of robots are limited by the av

Manufacturing paradigms have historically been shaped by social, economic, and technological aspect, including limitations and needs. Design for manufacturing (DFM) has been the main paradigm for last three decades since design is defined by the limitations of available manufacturing processes. Since reducing the time required for the development of new products has been one of the key issues for businesses, removing the gap between designers and manufacturers has been one of today’s main goals.

Soft fluidic actuators produce continuous and life‐like motions that are intrinsically safe, but current designs are not yet mature enough to enable large deployment with high force and low‐cost fabrication methods. Herein, soft fluidic actuators with two superimposed origami architectures are reported. Driven by a fluid input, the presented dual‐origami soft actuators produce quasisequential deployment and bending motion that is guided by unsymmetric unfolding of low‐stretchable origami compone

In this paper, we present a novel stiffness adjustable structure that changes its stiffness by pulling a tendon. It adopts an endoskeleton structure where rigid segments and compliant segments are alternately connected in series. The stiffness of this structure is controlled by compressing the compliant segments with an axial force. A tendon that runs through the endoskeleton and is fixed at the tip provides the axial compression force when pulled. We analyze the structure using the cylindrical

Soft robotics, a concept contrary to conventional “hard” robotics, is a robot design methodology that uses soft materials inspired by nature. In contrast to a hard robot, a soft robot is composed of soft and flexible materials that blur the distinction between an actuator and a structure, which leads to unique characteristics that cannot be found in a conventional hard robot. This paper presents our approach to the issues that arise when the concept of soft robotics is applied to a wheeled robot

Technology status was investigated by analyzing patents and development cases of wearable robots. Development direction of wearable robot for wearability was also suggested by understanding the problems of wearability from development cases through the FGI technique. The number of patents per technical field was the most in the field of strength support, but AI in the technology field was different in each country; Korea was found to be poor in the category of daily living assistance. The number

Legged locomotion has been widely researched due to its effectiveness in overcoming uneven terrains. Due to previous efforts there has been much progress in achieving dynamic gait stability and as the next step, mimicking the high speed and efficiency observed in animals has become a research interest. The main barrier in developing such a robotic platform is the limitation in the power efficiency of the actuator: the use of pneumatic actuators produce sufficient power but are heavy and big; ele

Soft actuators have been widely studied in recent years because of their ability to adapt to diverse environments and safely interact with humans. Their softness broadens their potential range of medical applications since they can provide inherent safety. Among the various motions a soft robot can perform, "torsion" can maximize the efficiency of motion in confined spaces like the human abdominal cavity. This paper presents a fully soft actuator with a double-helix tendon routing path for large

Small mobile robots with transformable wheels have recently emerged thanks to their increased mobilityand maneuverability. When a high payload is applied to these robots, however, wheel transformation becomesdifficult because they must directly overcome the payload’s weight. In this paper, we propose a wheel that can betransformed from its starting circular shape (radius, 56 mm) to a wheel with three legs (radius, 99 mm) under a highpayload with low operating force. The key design principle of t

Soft robotics is gaining interest in rehabilitation applications, bringing new opportunities to offset the loss of upper limb motor function following neurological, neuromuscular, or traumatic injuries. Unlike conventional rigid robotics, the added softness in linkages or joints promises to make rehabilitation robots compliant, which translates into higher levels of safety, comfort, usability, and portability, opening the door for these rehabilitation technologies to be used in daily life. While

Usability and functionality are important when designing hand-wearable robots; however, satisfying both indicators remains a challenging issue, even though researchers have made important progress with state-of-the-art robot components. Although hand-wearable robots require sufficient actuators and sensors considering their functionality, these components complicate the robot. Further, robot compliance should be carefully considered because it affects both indicators. For example, a robot's soft

Tendon driven mechanism is one of the most popular mechanism for transmitting force and power from a distance. The energy efficiency of a tendon driven system can be improved if it can maintain actuation force while it is not moving without mechanical work. This could be achieved by a brake; a brake without an additional actuator is preferred for the compactness of the whole system. We present a novel passive brake mechanism, a capstan brake, which consists of a capstan and two one-way clutches.

Small mobile robots which use round wheels are suitable for driving on a flat surface, but it cannot climb the obstacle whose height is greater than the radius of wheels. As an alternative, legged-wheels have been proposed by many researchers due to its better climbing performance. However, driving and climbing performances have a trade-off relationship so that their driving performance should be sacrificed. In this study, in order to achieve both driving and climbing performances, a new transfo

Adaptive and extreme changes in shape and configuration are the functional and morphological uniqueness of soft robots, but existing design approaches still rely on the predefined coordination of their “muscle” and “nerve” functions to produce such behaviors. Herein, a strategy is introduced for building modular soft machines that can be innervated in ways that conform to their body extension or shape changes, based on modular soft electronics. The development of soft electronic adhesive interlo